In this dissertation singularity avoidance Pith-Yaw-Roll joint apery arm-7 d o. f robot is designed and its inverse kinematics algorithm is studied It is an important problem in the field of redundant robot that inverse kinematics algorithm, and it is studied in this dissertation.

自1996年以來，我所在課題組承擔了國家863網(wǎng)點基金項目：擬人手臂機器人系統(tǒng)的研制工作，本文論述了具有全方位無關節(jié)奇異的Pith-Yaw-Roll關節(jié)機構的七自由度擬人手臂機器人的設計及其逆運動學算法研究。

The inverse kinematics algorithm of redundant robot is studied in depth in this dissertation, especially the apery arm-7 d. o. f. robot. The apery arm robot system is an important technology for nucleus industry, space station and other remote telecontrol tasks.

本文對冗余度機器人逆運動學算法問題進行了較為深入的研究老妇操B网，尤其對七自由度擬人手臂機器人逆運動學的研究，具有一定的實際意義免费看亚洲一区二区三区黄色视频；所設計的擬人手臂機器人系統(tǒng)對于核工業(yè)亚洲国产一二三在线观看无码唯美、空間站以及其它遠程遙控作業(yè)自動化具有重要意義。

Convert relationship of prototype robot joint angle and equivalent model joint angle is presented based on the method of kinematics inverse solution. The Jacobian algorithm of redundant robot for achieving effective joint excursion is studied, which is fit for digital calculating. The grads projection algorithm of redundant robot multi optimizing capability function's proportion factor is deduced. The issues of apery arm robot singularity and joint self-movement are researched. The simulation experiment result of apery arm joint self-movement and line movement is presented.

因為七自由度擬人手臂機器人的建模比較困難久久精品1，采用了在等效模型下求解其運動學逆解的方法乱伦激情熟女网，給出了原機器人機構關節(jié)角與等效模型關節(jié)角之間的轉換關系；提出了一種適于數(shù)值計算的有效的求解有關節(jié)偏置的冗余度機器人Jacobian的算法岛国性爱视频在线，并在此基礎上推導了冗余度機器人多優(yōu)化性能指標函數(shù)的均衡比例因子梯度投影算法欧美18XXOO视频在线喷水；研究了擬人手臂機器人的奇異問題和關節(jié)自運動問題；給出了擬人手臂進行關節(jié)自運動和進行直線軌跡跟蹤的仿真實驗結果日本免费的黄色网站。

Just like we do in freestyle and backstroke and breaststroke, you want your arms in front where there is an armful of water versus back in back here where it is just a handful of water.

就像你游自由泳免费体验观看无码A片120秒、仰泳和蛙泳一樣，你要使手臂盡量位于身體的前面日韩美女A级毛男，以便推到一大抱水国产一伦一色一情，而不是手臂靠后，只能推到一手掌水一区二区三区jizz。

I ain't gonna take this no more Bounce baby out the door Get up and move Don't make me act a fool Just bounce baby out the door Bounce baby out the door I ain't gonna take this no more Bounce baby out the door Get up and move Don't make me act a fool Said you're going with your boys today and "Don't worry cause I'll be home late" But I know you're creepin' out there, cheatin', You've been freakin' babe So let me tell you how it's going to be And you can run game but not on me boy So who the hell are you trying to kid You know this is what I did I called your pager and your two-way boy but no response Start looking and I found you in some other women's arms Don't try to front boy cause I saw you there with my own eyes Just get your stuff boy cause I'm tired of hearing all your lies I ain't gonna take this no more Bounce baby out the door Get up and move Don't make me act a fool Just bounce baby out the door Bounce baby out the door I ain't gonna take this no more Bounce baby out the door Get up and move Don't make me act a fool Baby boy I know you'll never find No stuff as good as mine She can't work you like I did You can look but you know I got that good shit I know that you're hating it But you better stay with the one you're with You made your bed and now you have to sleep in it baby I called your pager and your two-way boy but no response Start looking and found you in some other women's arms Don't try to front boy cause I saw you there with my own eyes Just get your stuff boy cause I'm tired of hearing all your lies Bounce baby out the door I ain't gonna take this no more Bounce baby out the door Get up and move Don't make me act a fool Just bounce baby out the door I ain't gonna take this no more I ain't gonna take this no more Bounce baby out the door Bounce baby out the door Get up and move Get up and move Don't make me act a fool Don't make me act a fool Just bounce baby out the door Wait a minute Sarah, give me a chance to explain I was just talking to shorty, I don't even know her name I ain't looking for no one to come and take your place Ain't no one out there baby that can fill your space No need to find a nickel got a dime at home Plus I love every night the freaky way we bone I ain't trying to get gone, ain't trying to roll I'd rather stay and be a part of your green eyed soul Just bounce baby out the door Bounce baby out the door Just bounce I ain't gonna take this no more Just bounce Bounce baby out the door Just bounce Get up and move Just bounce Don't make me act a fool Just bounce

我ain't去向前發(fā)生作用這個不更多彈起當作嬰兒般對待出去門到達向上和移動做不制造我行動a開玩笑僅僅彈起當作嬰兒般對待出去門彈起當作嬰兒般對待出去門我ain't去向前發(fā)生作用這個不更多彈起當作嬰兒般對待出去門到達向上和移動做不制造我行動a開玩笑假定你是去用你的男孩今天和"做不擔心原因我希望在家遲"但是我知道你是creepin'出去那里cheatin'你已經(jīng)是freakin 嬰兒那樣讓我說出你亚洲最大黄色视频高清免费在线观看，它怎樣正將是和你能變得勇敢了但是不是在我上那樣地獄對是你試一試的男孩哄騙你的知道這個是我所做的我呼吁你的尋呼和你的雙向的男孩但是沒有看和我反應出發(fā)發(fā)現(xiàn)你在情婦手臂不努力嘗試的一些中我有我的自己眼睛的僅僅把厭煩你的我被的材料男孩原因帶到那里聽你所有的謊言處理前面的男孩原因你我ain't去向發(fā)生作用這個沒有更多彈起當作嬰兒般對待從里面門到達沿著和移動做不制造我行動a開玩笑僅僅彈起當作嬰兒般對待從里面門僅僅彈起彈起當作嬰兒般對待從里面門我ain't去向發(fā)生作用這個沒有更多彈起當作嬰兒般對待從里面門到達沿著和移動做不制造我行動a開玩笑小男孩我知道你希望從不裁決不材料實際已經(jīng)開采礦她不能工作你相似我是做你罐看但是你知道我得到那個好排糞我知道那個你是討厭它但是你更好些留下用一你是用你制做你的床和現(xiàn)在你富人向睡覺在中它當作嬰兒般對待我打電話你的尋呼和你的雙向地男孩但是沒有反應開始看和發(fā)現(xiàn)你在中一些情婦's手臂做不請嘗試向前男孩原因我拉來拉去你那里用我自己的眼睛僅僅到達你的材料男孩原因我被使厭煩的聽見你所有的謊言彈起當作嬰兒般對待從里面門我 ain't去向發(fā)生作用這個沒有更多彈起當作嬰兒般對待從里面門到達沿著和移動做不制造我行動a開玩笑僅僅彈起當作嬰兒般對待從里面門我ain't去向發(fā)生作用這個沒有更多我ain't去向發(fā)生作用這個沒有更多彈起當作嬰兒般對待從里面門彈起當作嬰兒般對待從里面門到達沿著和移動到達沿著和移動做不制造我行動a開玩笑做不制造我行動a開玩笑僅僅彈起當作嬰兒般對待從里面門僅僅彈起等候a分鐘薩拉讓步我a機會向說明我是僅僅說話向矮子我做不平穩(wěn)知道她名字我ain't尋找沒有任何人向來和發(fā)生作用你的地方Ain't沒有任何人從里面那里當作嬰兒般對待那個罐充滿你的是一部分你的綠色是從從門公正彈起里面門公正彈起彈起小里面盯著精神公正彈起小我ain't去把這沒有更公正彈起彈起小帶到從門里面僅僅彈起組織和移動公正彈起不使我裝出一傻瓜公正彈起的樣子

Their hand-over hand method of swinging from branch to branch, known as brachiation, enables them to move at breathtaking speed.

它們用手臂將身體懸掛在樹枝上黄色片一道本，并在樹枝間蕩來蕩去成人色网站欧美大片在线观看，因為其長長的手臂，它們的移動速度十分迅速思思热在线观看视频网站。

There is a huge cybernetic arm tied to a table – it's long and topped with a claw.

有一個巨大的機械手臂綁在桌子上-一個長的頂部有爪子的手臂黄A片一区二区三区。

Claudia Mitchel lost her arm at the shoulder in a motorcycle accident, and is now using a computer-controlled, electric-powered arm to do almost everything her biological arm could do. Peel and eat a piece of fruit. Fold clothes.

克勞迪婭米歇爾在一場摩托車事故中失去了從肩膀部分開始的整條手臂，現(xiàn)在可以使用一只計算機控制的亚洲日韩欧美在线视频播放，電力驅動的手臂做大多數(shù)以前真正的手臂做的事情亚洲中文字幕在线四区。

Three kinds of arm's robust control theorys are designed: the torque control based on FNN controller, the computed torque control with sliding mode compensation and the computed torque control with WNN compensation. FNN syncretizes the reasoning ability of fuzzy control and parameters' self-learning ability of neural networks. It does not depend on the precision of the mathematical model, and can overcome the impact of the uncertainty effectively. So FNN is regarded as the manipulator controller and used to the trajectory tracking of arm control. The computed torque control with sliding mode compensation is designed.

在此基礎上，研究了機械手臂的魯棒控制法欧美性爱电影免费看，分別設計了基于模糊神經(jīng)網(wǎng)絡的機械手臂力矩控制方法日本超刺激视频在线观看网站、基于滑模變結構控制補償?shù)臋C械手臂力矩控制方法以及基于小波神經(jīng)網(wǎng)絡補償?shù)臋C械手臂力矩控制方法，具體內(nèi)容如下：模糊神經(jīng)網(wǎng)絡融合了模糊控制的推理能力和神經(jīng)網(wǎng)絡的參數(shù)自學習能力，它不依賴于對象精確的數(shù)學模型黄色录像网站一个片，能有效地克服被控對象存在的不確定部分的影響啪啪免费特级黄片，本文把模糊神經(jīng)網(wǎng)絡作為機械手臂的關節(jié)伺服控制器，通過對網(wǎng)絡參數(shù)的學習訓練來調(diào)整機械手臂關節(jié)的控制力矩欧美色综合,色综合，實現(xiàn)對機械手臂的軌跡跟蹤控制你懂网站在线观看。

The specially designed arm socket prevents unnecessary wobble from the arm while providing full control over the arm's torque.

特別設計的手臂插座防止不必要的擺動手臂，同時提供對手臂的轉矩的完全控制欧美成人嘿咻在线视频。

Rear Suspension Aluminum two unit cast swing arm, air damping：后懸架鋁兩個單位投擺動手臂,空氣阻尼

Front Travel 9.4 inches前線旅行9.4英寸 | Rear Suspension Aluminum two unit cast swing arm, air damping后懸架鋁兩個單位投擺動手臂,空氣阻尼 | Rear Travel 8.3 inches后方旅行8.3英寸

amputate：切除(手臂,腿等)

ampullae | 壺腹, 圣水瓶 | amputate | 切除(手臂,腿等) | amputation | 切斷手術

arm：手臂

可能會產(chǎn)生不同的理解,所以這種方法在一點點地改變,符號開始表達聲音的組合. 例如用來代表"手臂"(arm)的字是"id",手臂的圖形就代表"id"的發(fā)音,因而每次要傳送"id"音的時候,就會用手臂圖形,文字的這個階段稱為"符號文字".

So your arm only hurts after you lie on top of itall night：所以只有整個晚上壓著手臂 它才會痛

If I sleep on my backor with my arms out,I'm usually okay.|如果仰著睡覺 不壓著手臂就沒事 | So your arm only hurts after you lie on top of itall night.|所以只有整個晚上壓著手臂 它才會痛 | Yeah.|是的

arm rappel：手臂下降法

arm locks/彎曲手臂固定法/ | arm rappel/手臂下降法/ | artificial anchor/人工確保點/

arm serif：手臂飾線

14 arm 手臂線 | 15 arm serif 手臂飾線 | 16 swash 鉤耳

cross armlock：(十字手臂固定)

cross armbreaker(十字手臂破壞技) | cross armlock(十字手臂固定) | crucifix(十字架壓制)

Racket arm trails to ball toss arm：[持拍手臂緊隨拋球手臂]

Racket arm trails to ball toss arm[持拍手臂緊隨拋球手臂] | Roll of ball toss arm[拋球手臂轉動] | Must place not throw[拋球而不是扔球]

You lose your arm. yes：你就失去了你的手臂 -是的

So you get hit in the arm,|所以你被擊中手臂 | You lose your arm. yes.|-你就失去了你的手臂 -是的 | You gotta put it behind you, like this.|你要把手藏起來,像這樣

Grab my arm.|The other arm：抓住我手臂.|另一只

Now, watch this, everybody.|現(xiàn)在, 大家都看著. | Grab my arm.|The other arm.|抓住我手臂.|另一只. | My other arm.|我的另一只手臂.